EP2724945A2 - Motorisierungssystem für Gelenk mit flexiblen Rollwegen - Google Patents

Motorisierungssystem für Gelenk mit flexiblen Rollwegen Download PDF

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Publication number
EP2724945A2
EP2724945A2 EP13189116.0A EP13189116A EP2724945A2 EP 2724945 A2 EP2724945 A2 EP 2724945A2 EP 13189116 A EP13189116 A EP 13189116A EP 2724945 A2 EP2724945 A2 EP 2724945A2
Authority
EP
European Patent Office
Prior art keywords
winding
flexible
tracks
elastic means
point
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP13189116.0A
Other languages
English (en)
French (fr)
Other versions
EP2724945A3 (de
Inventor
Yannick Baudasse
Stéphane VEZAIN
Didier Stanek
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Thales SA
Original Assignee
Thales SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Thales SA filed Critical Thales SA
Publication of EP2724945A2 publication Critical patent/EP2724945A2/de
Publication of EP2724945A3 publication Critical patent/EP2724945A3/de
Withdrawn legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/222—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles for deploying structures between a stowed and deployed state
    • B64G1/2229—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles for deploying structures between a stowed and deployed state characterised by the deployment actuating mechanism
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/42—Arrangements or adaptations of power supply systems
    • B64G1/44—Arrangements or adaptations of power supply systems using radiation, e.g. deployable solar arrays
    • B64G1/443—Photovoltaic cell arrays

Definitions

  • the present invention relates to motor drive systems. It applies in particular to the field of deployment mechanisms of spatial appendices, such as antennas or solar generators, for example.
  • elements for example fittings, are typically set in motion relative to each other around joints.
  • These systems thus comprise hinge lines generally using motor components such as torsion springs, spiral springs or Carpentier seals, making it possible to combat the resistant torques and to guarantee the necessary margins in terms of torques generated in order to ensure full deployment of appendices.
  • known engine components have an evolutionary or variable engine torque involving an over-drive which causes shocks at the end of deployment.
  • the deployable structures can be dimensioned and reinforced so as to be able to withstand the end-of-travel impacts generated during their deployment, but this solution is not satisfactory and in particular leads to an increased weight for the complete structure.
  • crossing point between the winding means forming a connecting element, it is understood more broadly the axis substantially parallel to the longitudinal axes or axes of revolution of the fittings, passing both through the two means of connection. 'winding.
  • An example of a torque controlled motor device as described above is described in more detail below with reference to FIG. figure 1 .
  • An object of the present invention is in particular to overcome the aforementioned drawbacks.
  • a motorization device comprising at least two flexible rolling tracks, the latter being associated with elastic means for radial compression of the flexible tracks, to ensure that a normal force to the surface each flexible track is exerted at the point of contact between the flexible tracks.
  • Another advantage of the present invention is that a motorization device according to one of the described embodiments offers a substantial volume gain compared to known devices of the state of the art, as well as a substantial gain in term massive.
  • Another advantage of the present invention is that a motorization device according to one of the described embodiments also offers a substantial gain in terms of strength and robustness.
  • the subject of the invention is a drive device comprising two substantially parallel winding rolls, at least winding means forming a longitudinally shaped connecting element, the winding means being able to maintain a predetermined distance between the winding rolls and being wound around the winding rolls, and at least two flexible tracks, a flexible track being fixed on each winding roll, the flexible tracks being arranged facing each other and presenting a winding point.
  • the motorization device further comprising elastic means disposed between each winding cylinder and the corresponding flexible track, the elastic means being configured to exert a radial compressive force on each flexible track, norma l at the surface of the flexible track at least at said point of contact.
  • the flexible tracks may be cylindrical with a spiral section.
  • the flexible tracks may be cylindrical with a circular section.
  • the elastic means may be formed by a lattice comprising a plurality of cells or a three-dimensional network of beams or plates.
  • the elastic means associated with a flexible track may be formed by a plurality of cells disposed in the volume between the outer circumference of the winding roll and the inner circumference of the flexible track.
  • the cells may have a length less than or equal to the width of the tread of the flexible tracks.
  • the cells may have a polygonal section.
  • the cells may be configured so that the elastic means constitute an auxetic structure.
  • the resilient means may be disposed around the entire outer circumference of the winding rolls.
  • the resilient means may be disposed around a predetermined angular portion of the outer circumference of the winding rolls.
  • the present invention also relates to an artificial satellite deploying system, comprising at least a first deployable appendage and a second deployable appendage, characterized in that it further comprises a motorization device according to any one of the described embodiments. , the deployable appendages being fixed on each assembly formed by a winding cylinder and a flexible track.
  • FIG 1 presents a diagram illustrating a motorization system as described in the patent application FR 2968234 supra.
  • a motorization system comprises winding cylinders 1a, 1b substantially parallel and held in position by winding means 3 such as flexible blades, or by any other suitable element, such as cables.
  • the winding means 3 are wound in the form of eight around the winding rolls 1a, 1b; taken separately, each winding means comprises in particular a linear portion 3a or 3b, each linear portion 3a, 3b being extended by a portion of the winding means winding around each of the winding rolls 1a, 1b.
  • the winding means intersect a cross point C.
  • Flexible tracks 2a, 2b are respectively connected to each of the winding cylinders 1a, 1b with circular section.
  • the flexible tracks 2a, 2b are arranged vis-a-vis and in contact with each other.
  • An assembly comprising a winding cylinder 1a, 1b and a flexible track 2a, 2b associated forms a fitting 12a, 12b.
  • the winding means 3 induce a preload force applying to the point of contact P between the flexible tracks 2a, 2b.
  • the point of contact P between the flexible tracks 2a, 2b and the cross point C of the winding means 3 are aligned on a plane orthogonal to the plane passing through the two axes of revolution of the two winding rolls 1a, 1b, and parallel and equidistant from the axes of revolution of the two winding rolls 1a, 1b.
  • Appendices such as solar generators, may be attached to each winding cylinder / flexible lane assembly 1a-2a / 1b-2b.
  • the flexible tracks 2a, 2b may consist of flexible tracks in the form of a spiral.
  • the profile of the flexible tracks 2a, 2b can also be formed by several portions of spirals, and / or by several portions of circular profile.
  • the specific spiral shape makes it possible to off-center the point of contact P between flexible tracks 2a, 2b with respect to the point of intersection C of the winding means 3.
  • the point of contact P and the point of intersection C are not found on the same axis parallel to the axes of revolution of the winding rolls 1a, 1b.
  • This eccentricity of a distance D, from the point of contact P with respect to the point of intersection C causes the eccentricity of the preload force induced by the winding means 3 and applied to the point of contact P.
  • a torque R is produced between the point of contact P and the crossing point C inducing the rotation of the fittings 12a, 12b, comprising the flexible tracks 2a, 2b and the winding rolls 1a, 1b.
  • the rotation of the fittings 12a, 12b between them causes a variation of the deformation of the flexible tracks 2a, 2b and more precisely of the arrow at the point of contact, the spacing of the winding rolls 1a , 1b being meanwhile constant, the length E of the spacing in the closed position F being equal to the length E 'in the open position O, because of the circular section cylindricity of the winding rolls 1a, 1b.
  • the torque R can be adjusted by means of the choices made on the shape of the spiral and on the physical characteristics of the flexible tracks 2a, 2b, in particular their elasticity and their rigidity.
  • To increase the torque R exerted on the flexible tracks 2a, 2b it is possible to increase the offset of the point of contact P with respect to the point of intersection C by making a spiral with a large opening angle, or to increase the force exerted at the point of contact P by making a stiffer flexible track.
  • To increase the force exerted at the point of contact C it is still possible to increase the deflection of the flexible tracks 2a, 2b.
  • an Archimedean spiral shape may be preferred.
  • the flexible track 2a of a drive device not shown in its entirety is generally of spiral shape, and arranged around a rolling cylinder 1a.
  • the flexible track 2a may for example consist of a plurality of treads 32 parallel to each other.
  • the motorization device further comprises elastic means 30 disposed between the rolling cylinder 1a and the flexible track 2a.
  • the elastic means are configured to produce a spring effect, and to maintain the flexible tracks firmly in contact, exerting a radial compressive force on each flexible track, normal to the surface of the flexible track at least at the point of contact. contact between the flexible tracks.
  • the elastic means can be made by flexible structures, such as lattices formed of cells or three-dimensional networks of beams or plates.
  • the elastic means may be formed by a plurality of cells 30a forming a flexible lattice.
  • the cells 30a may be generally cylindrical along a plurality of axes parallel to the axis of revolution of the rolling cylinder 1a. In the example illustrated by the figure, the cells 30a extend generally over a length less than or equal to the width of the total tread provided by the flexible track 2a, it being understood that this is not the case. a limiting example of the present invention.
  • the cells 30a may have sections of various shapes. In the example illustrated by the figure 3 the cells 30a have irregular hexagon-shaped sections, the areas of which increase as they move away from the rolling cylinder 1a towards the flexible track 2a. Other shapes may be considered, including other polygons, scale shapes, and so on.
  • the sections of the cells 30a may have shapes such that the elastic means have an auxetic structure, that is to say with a negative Poisson's ratio.
  • the cells may for example have sections in the form of a diabolo.
  • An auxetic structure has the advantage of being able to deform under the effect of a radial displacement of the flexible track undergoing very few tangential stresses, in comparison with a traditional structure. This advantage therefore makes it possible to minimize the tangential deflection of the point of contact of the flexible tracks.
  • an auxetic structure can be used to dissipate energy and thus regulate the speed of rotation of the fittings.
  • cells of an auxetic structure may for example be filled with a damping material, for example a viscoelastic type material. If we consider the volume of the cell, it will vary in large proportions during a deformation in comparison with a traditional structure, the damping material will therefore experience significant pressure differences and therefore dissipate more energy. which will generate regulation in speed of rotation.
  • the elastic means may be arranged around the entire outer circumference of the rolling cylinder 1a, in the space between the rolling cylinder 1a and the inner circumference of the flexible track 2a.
  • the cells 30a can be arranged around an angular portion only of the circumference of the rolling cylinder 1a, such a configuration has an additional advantage in terms of weight gain and volume.

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Springs (AREA)
  • Wind Motors (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
  • Manufacture Of Motors, Generators (AREA)
EP13189116.0A 2012-10-26 2013-10-17 Motorisierungssystem für Gelenk mit flexiblen Rollwegen Withdrawn EP2724945A3 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1202861A FR2997385B1 (fr) 2012-10-26 2012-10-26 Systeme de motorisation pour articulation a pistes de roulement flexibles

Publications (2)

Publication Number Publication Date
EP2724945A2 true EP2724945A2 (de) 2014-04-30
EP2724945A3 EP2724945A3 (de) 2018-01-03

Family

ID=47750749

Family Applications (1)

Application Number Title Priority Date Filing Date
EP13189116.0A Withdrawn EP2724945A3 (de) 2012-10-26 2013-10-17 Motorisierungssystem für Gelenk mit flexiblen Rollwegen

Country Status (5)

Country Link
US (1) US20140117165A1 (de)
EP (1) EP2724945A3 (de)
JP (1) JP6212356B2 (de)
CN (1) CN103786899A (de)
FR (1) FR2997385B1 (de)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112549057A (zh) * 2020-12-23 2021-03-26 山东理工大学 用于垃圾分拣回收的新型机械臂柔性夹爪

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106564621B (zh) * 2016-11-03 2018-10-02 中国科学院国家空间科学中心 一种实现收拢展开功能的x型截面伸杆
US11399593B2 (en) 2017-05-25 2022-08-02 Nike, Inc. Article of footwear with auxetic sole structure having a filled auxetic aperture
WO2022174856A1 (de) * 2021-02-20 2022-08-25 Christian-Albrechts-Universität Zu Kiel Auxetische steg- oder feldstruktur sowie verwendung
CN117508640B (zh) * 2024-01-02 2024-03-29 银河航天(北京)网络技术有限公司 一种跨板铰链及卫星翼阵

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR605653A (fr) 1924-11-03 1926-05-31 Perfectionnements aux combustibles solides
FR2635077A1 (fr) 1988-08-08 1990-02-09 Aerospatiale Articulation auto-motorisee, sans frottement, et ensemble articule tel qu'un panneau solaire de satellite equipe de telles articulations
FR2968234A1 (fr) 2010-12-07 2012-06-08 Thales Sa Systeme de motorisation a couple adapte pour structures spatiales deployables

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3932045A (en) * 1973-03-05 1976-01-13 Purdue Research Foundation Rolling contact joint
US4558911A (en) * 1983-12-21 1985-12-17 California Institute Of Technology Rolling contact robot joint
FR2663671B1 (fr) * 1990-06-26 1992-09-11 Ftfm Toulousaine Systeme d'articulation de panneaux et application aux portes sectionnelles.
US5857648A (en) * 1997-01-28 1999-01-12 Trw Inc. Precision deployable boom assembly
DE19728844C2 (de) * 1997-07-05 1999-04-15 Daimler Benz Aerospace Ag Getriebe zur Bewegung von mit Solarzellen versehenen Paneelen an einem Raumfahrzeug
FR2902763B1 (fr) * 2006-06-23 2009-05-22 Alcatel Sa Articulation auto-motorisee pour ensemble articule tel qu'un panneau solaire de satellite
FR2969524B1 (fr) * 2010-12-23 2013-09-06 Thales Sa Articulation auto-motorisee et ensemble articule auto-regules
KR101378436B1 (ko) * 2012-06-27 2014-03-27 한국타이어 주식회사 에어리스 타이어
FR2997384B1 (fr) * 2012-10-26 2016-09-16 Thales Sa Systeme de motorisation pour articulation a moyens d'enroulement croises a roulement fiabilise
US9853353B2 (en) * 2014-06-24 2017-12-26 Los Alamos National Security, Llc Space vehicle electromechanical system and helical antenna winding fixture

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR605653A (fr) 1924-11-03 1926-05-31 Perfectionnements aux combustibles solides
FR2635077A1 (fr) 1988-08-08 1990-02-09 Aerospatiale Articulation auto-motorisee, sans frottement, et ensemble articule tel qu'un panneau solaire de satellite equipe de telles articulations
FR2968234A1 (fr) 2010-12-07 2012-06-08 Thales Sa Systeme de motorisation a couple adapte pour structures spatiales deployables

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112549057A (zh) * 2020-12-23 2021-03-26 山东理工大学 用于垃圾分拣回收的新型机械臂柔性夹爪

Also Published As

Publication number Publication date
EP2724945A3 (de) 2018-01-03
CN103786899A (zh) 2014-05-14
JP6212356B2 (ja) 2017-10-11
JP2014111434A (ja) 2014-06-19
FR2997385B1 (fr) 2014-11-28
FR2997385A1 (fr) 2014-05-02
US20140117165A1 (en) 2014-05-01

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